JuliaPOMDP / ParticleFilters.jl

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@@ -27,9 +27,9 @@
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plt = plot_terrain_ac_particles(0,4,particles)
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savefig(plt,"test_terrain.png")
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"""
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function plot_terrain_ac_particles(xpos,ypos,particles)
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function plot_terrain_ac(xpos,ypos)
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#@show "terrain plotter being called"
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	X = xpos[1] - 0.6 .+ [-1,     -0.1,   -0.09,    0.3,  0.7, 0.8, 0.7, 0.3, -0.09,  -0.1, -1];
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	X = xpos[1] - 0.6 .+ [-1,-0.1,-0.09,0.3,0.7,0.8,0.7, 0.3, -0.09,  -0.1, -1];
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	Y = ypos .+ [-0.05, -0.05, -0.4, -0.05, -0.05,0, 0.05, 0.05, 0.4, 0.05, 0.05];
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	# Here are the mountains
@@ -40,9 +40,9 @@
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	# Call the ground function on the x locations that are deemed as mountain above
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	Mountains = map.(ground,plotVectorMountains)
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	plt = plot(plotVectorMountains,Mountains,leg=false) # Plot the terrain
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	plot!(X,Y,leg=false) # Plot the aircraft
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	scatter!(particles,4*ones(length(particles)),leg=false)
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	plt = plot(plotVectorMountains,Mountains,label="Terrain") # Plot the terrain
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	plot!(X,Y,label="Aircraft") # Plot the aircraft
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	return plt
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end
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@@ -51,13 +51,12 @@
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Take input array of plots and convert to gif animation
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"""
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function write_particles_gif(plots)
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@show "Making gif"
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	print("\n Making gif\n")
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	frames = Frames(MIME("image/png"), fps=5)
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	for plt in plots
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	    print(".")
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	    push!(frames, plt)
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	end
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	write("fjord.gif", frames)
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	write("../img/Fjord/26June/fjord.mp4", frames)
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	return nothing
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end # End of the reel gif writing function
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@@ -68,7 +67,7 @@
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	dt = 0.1 # time step
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	ypos = 4 # Height of the aircraft stays constant
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	meas_stdev = 0.1
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	meas_stdev = 2
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	A = [1]
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	B = [0]
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	f(x, u, rng) = x #+ [1.0] # Investigating fixed state
@@ -77,39 +76,51 @@
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	model = ParticleFilterModel{Vector{Float64}}(f, g)
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	N = 1000  # Rpb: Was 1000 before
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	N = 50  # Rpb: Was 1000 before
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	filter_sir = SIRParticleFilter(model, N) # This was originally present
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	filter_cem = CEMParticleFilter(model, N) # This is the cem filter
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	b = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N])
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	b_sir = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N])
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	b_cem = b_sir
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	x = [-25.0]
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	plots = []
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plt = plot_terrain_ac_particles(x,ypos,particles(b))
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push!(plots,plt)
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	plt = plot_terrain_ac(x,ypos)
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	scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue)
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	scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green)
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#	scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue)
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# 	scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green)
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	push!(plots,plt)
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	for i in 1:50    #RpB: was 100 before
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	    print(".")
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	    u = 1
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	    x = f(x, u, rng)
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#@show x
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	    y = h(x, rng)
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#@show y
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	    b = update(filter_cem, b, u, y)
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#@show particles(b)
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		#print(".")
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		u = 1
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		x = f(x, u, rng)
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		y = h(x, rng)
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		b_sir = update(filter_sir, b_sir, u, y)
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		# RpB: This is the update_cem
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		#b_cem = update(filter_cem,b,u,y)
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#@show particles(b_cem)
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	    plt = plot_terrain_ac_particles(x,ypos,particles(b))
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	    push!(plots, plt)
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		b_cem = update(filter_cem,b_cem,u,y)
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		plt = plot_terrain_ac(x,ypos)
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	scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue)
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	scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green)
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#		scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue)
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#		scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green)
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		push!(plots, plt)
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	end
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	return plots
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end # End of the runexp function
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@show "Sandbox says: Calling runexp"
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plots = runexp()
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Files Coverage
src -0.14% 20.76%
Project Totals (16 files) 20.76%
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